EP0288878B1 - Procédé de revêtement automatique de pièces en série - Google Patents

Procédé de revêtement automatique de pièces en série Download PDF

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Publication number
EP0288878B1
EP0288878B1 EP88106216A EP88106216A EP0288878B1 EP 0288878 B1 EP0288878 B1 EP 0288878B1 EP 88106216 A EP88106216 A EP 88106216A EP 88106216 A EP88106216 A EP 88106216A EP 0288878 B1 EP0288878 B1 EP 0288878B1
Authority
EP
European Patent Office
Prior art keywords
spraying apparatus
valve
time
programme
delay
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP88106216A
Other languages
German (de)
English (en)
Other versions
EP0288878A2 (fr
EP0288878A3 (en
Inventor
Eberhard Dipl.-Ing. Medler
Siegfried Dr. Philippi
Kurt Dipl.-Ing. Vetter
Ludwig Dipl.-Ing. Freudenreich
Othmar Lippuner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Daimler Benz AG
Mahle Behr Industry GmbH and Co KG
Original Assignee
Daimler Benz AG
Behr Industrieanlagen GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daimler Benz AG, Behr Industrieanlagen GmbH and Co KG filed Critical Daimler Benz AG
Publication of EP0288878A2 publication Critical patent/EP0288878A2/fr
Publication of EP0288878A3 publication Critical patent/EP0288878A3/de
Application granted granted Critical
Publication of EP0288878B1 publication Critical patent/EP0288878B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery

Definitions

  • the invention relates to a method according to the preamble of claims 1 and 7 and a device according to the preamble of claim 8, with which the method can be carried out (EP-A-0 166 092).
  • painting robots or other spray devices controlled by a processing program can be used for the serial coating of workpieces, such as the body shells of motor vehicles, the program of which contains control information associated with a large number of individual color impact points which the robot approaches during coating.
  • information is stored about certain delay times with which switching commands of the program for switching the paint valve of the spray gun and its paint quantity metering device on and off are to be executed.
  • the delay information required for the program can be found without particular difficulty.
  • the delay information stored in the program no longer corresponds to the actual conditions if the response behavior changes over time, which for various reasons, e.g. Changes in friction or wear of the moving parts of the spraying device, replacement of the spraying device or of individual parts etc. are possible and often unavoidable.
  • the coating quality has deteriorated over time, after which the delay times had to be readjusted or programmed in tedious manual operation.
  • the paint supply lines of the spraying device which usually contain a feed pump which, when the spraying device is switched off, feeds into a return circuit bridging the pump, so that when the paint needle valve of the spraying device is opened, the required pressure is immediately available.
  • the feedback circuit contains a valve that opens automatically when the paint needle valve closes and closes when the paint needle valve opens. So far, a pressure relief valve has been used for this. So that no undesired overpressure or underpressure arises in the ink supply hoses, it would be desirable to switch the valve of the feedback circuit at precisely timed times by external signals to match the opening and closing of the ink needle valve. However, the set switching times of the feedback circuit would no longer correspond to the actual conditions if the response behavior of the spray device changes.
  • the invention has for its object to provide a method or a suitable device with which a uniformly good coating quality can be guaranteed even with changing temporal response behavior of a valve or other controlled part of the spraying device.
  • the time diagram shown in FIG. 1 applies to a system, for example for the automatic series coating of motor vehicle bodies using a programmed painting robot.
  • the spray device actuated by the robot should first be switched on and then switched off again on the basis of a switching command FN generated by the robot controller at time t0.
  • the switching command FN causes a separate, for example a microprocessor-containing timing unit to deliver the actual switch-on signal for the paint needle valve of the spraying device after a preset waiting time at time t 1, as curve FN 'shows. Due to the unavoidable response delay, the ink needle valve is only actually opened after a certain ink needle time T8, which is to be monitored and measured according to the method described here.
  • the ink needle time T8 from the ink needle valve at time t2 After the ink needle time T8 from the ink needle valve at time t2 generates a feedback signal in a manner to be described (see FIG. 2). After the paint flight time T6, the paint hits the body to be coated at the time t 3.
  • the total time between t0 and t3 is the switch-on time (lead time) T0 of the color needle valve provided as a process parameter in the robot program.
  • the switch-off time T1 of the ink needle valve which is also required as a process parameter, can be seen. It is composed of the time between the disappearance of the higher-level switch-on command FN at time t4 and the switching signal FN 'generated by the time control unit' at time t5, the switch-off delay time of the color needle valve, which is assumed here to be equal to the measured switch-on color needle time T8, and again Color flight time T6.
  • the coating of the body ends at time t6.
  • FIG. 1 also shows the switch-on times T2 and T4 and the switch-off times T3 and T5 of two throttle valves located in the paint supply system of the spraying device, which are also actuated by the time control unit by switching signals D1 and D2.
  • These two throttle valves are located in feedback circuits, each of which bypasses a feed pump in parallel ink supply lines for different colors, and are intended to ensure constant pressure in the ink supply hoses before and after opening and closing the ink needle valve.
  • the on and off times of the throttle valves must be precisely matched to the switching times and delay times of the color needle valve. The switching times can be determined, for example, by appropriate test operation.
  • the throttle switching times are before the color needle switching times. In other cases, however, it may prove necessary, for example due to different valve constructions or line relationships, to switch the throttle valves to the paint needle valve.
  • a problem can arise due to automatic changes in the actual ink needle time T8, for example based on changes in friction or wear, over time. If the ink needle time T8 is shorter or longer than the value used when programming the robot and when setting the time control unit ZST, there are more or less large coating errors on the body. In addition, pressure errors can also occur in the line system because the switching times of the throttle valves are no longer matched to the actual opening and closing times of the ink needle valve.
  • the system described here is based on a theoretically calculated maximum permissible ink needle time T7, the duration of which must not be exceeded by the measured time T8.
  • the duration of T8 is shorter than T7, and so that the ink needle valve is opened at exactly the right time t2, the time control unit switches on the ink needle valve by a time period corresponding to the difference dt later than would be the case based on the theoretical ink needle time T7.
  • this change can be compensated in the color control unit by preferably automatically adjusting the time period dt.
  • the measured ink needle time T8 increases over time so that it can no longer be compensated for by reducing dt, i.e. the time period dt approach zero or become negative and the ink needle time T8 would be equal to or greater than T7, then an alarm signal is generated by the time control unit and the ink needle valve is blocked while the throttle valves are opened. Before this happens, it is possible to first generate a warning signal as soon as the measured value of the ink needle time T8 approaches a critical limit.
  • the within the compensation by the time period dt possible switch-on times t1 should not lie in the example of earlier throttle switching times shown in FIG. 1 before the expiry of a period max (T2, T4) after the time t0, which is the maximum possible switch-on time T2 or T4 Corresponds to throttle valves.
  • the maximum possible time span max (T3, T5) of the switching times of the throttle valves is taken into account when selecting the times t4 and t5.
  • the compensation period dt can directly follow the point in time at which the switching command FN was generated by the program control, both when switching on and when switching off.
  • the possibly changing ink needle time T8 and the time period dt correspondingly adjusted by the time control unit for compensation can be continuously monitored by the operating personnel with the aid of a screen which can be connected to the time control unit via an interface.
  • the required times can also be set and changed via this interface.
  • the compensation method described with reference to FIG. 1 with the time window formed by time T7 requires relatively little control effort.
  • FIG. 2 shows a part of a color needle valve, in which a sensor 1 is installed, with which the actual color needle time T8 (FIG. 1) can be measured in a partially simplified representation.
  • the ink needle 2 is fastened at its rear (right) end in a piston 4 which is axially displaceably mounted in a correspondingly dimensioned recess in the housing 3 of the ink needle valve.
  • An annular seal 5 is arranged between the piston 4 and the housing wall.
  • the front (left) end of the paint needle 2 interacts with a paint nozzle, not shown and opens or closes it depending on the axial needle position.
  • the ink needle can be pressurized with air on one (left) side of the piston 4, for example against the force of a compression spring, between the other side of the piston and the surface of a cover part 6 facing the piston Housing 3 can sit, pushed into the open position, as indicated by the arrow 7.
  • the sensor 1 can be inserted into the projection 8 in an axially adjustable manner, for example it can be screwed in and replaced after the cover part 6 has been removed from the housing 3. If the ink needle 2 is moved into its corresponding (right) end position by compressed air to open the valve, the sensor 1 generates an electrical feedback signal due to the approach of the end face 10 of the ink needle 2 to the sensor surface 9, which signal to the outside through openings in the cover part 6 guided connecting lines 11 of the sensor 1 is available.
  • the piston 4 is actuated to actuate the color needle valve in a manner known per se by opening a compressed air valve (not shown) under control of a switch-on signal according to FN 'in FIG. 1.
  • the delay time of the valve actuation to be measured with the aid of sensor 1, that is to say Color needle time T8 is the time between the generation of this switch-on signal at the time t 1 and the feedback signal appearing at the time t 2 on the connecting lines 11.
  • Such a measurement of the actuation delay is possible not only with color needle valves, but also in the same or similar manner with other controlled elements of the coating system, in particular with valves of metering devices, compressed air systems, etc.
  • An improvement in the program control can be achieved if the different lead times for For example, coating parameters that can be changed at different speeds are taken into account.
  • the currently speak used paint quantity controller in a coating device for vehicle bodies quicker to a change command than the currently. used air volume controller. If the read control commands for the amount of paint and the amount of air were given to the relevant controllers at the same time, incorrect spray conditions could initially result because the correct air values for the set amount of paint could not be reached immediately. The same can apply to other parameters.
  • at least two different transfer signals can always be generated by the robot control system during the execution of the control program.
  • One signal which controls the setting of the more quickly changeable parameter (amount of color) is given to the parameter control system earlier in time than the other signal when passing through the movement path of the robot, and / or the parameter control system transmits the control command faster, that is, earlier to the associated one (Air volume) controller.
  • the result is an essentially simultaneous adjustment or change of the coating parameters.
  • the characteristic of the control loops of the relevant parameters can be optimized by the various transfer signals.

Landscapes

  • Spray Control Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)

Claims (11)

  1. Procédé pour appliquer automatiquement un revêtement sur des pièces, en série, par utilisation d'un dispositif de pulvérisation, commandé par un programme mis en mémoire, en particulier d'un robot à peindre, dans lequel, pendant le déroulement du programme, des signaux de commande du dispositif de pulvérisation, en particulier pour l'enclenchement et le déclenchement d'un clapet à aiguille de pulvérisation et/ou d'un dispositif de dosage de quantité de peinture, sont produits à des instants prédéterminés qui correspondent à des informations de temporisation associées au programme, lesquelles tiennent compte des déplacements relatifs entre le dispositif de vaporisation et la pièce ainsi que de la réponse mécanique du dispositif de pulvérisation, caractérisé en ce que lors du déroulement du programme de traitement, la durée de temporisation effective est mesurée entre le signal de commutation et la réponse de l'élément commandé du dispositif de pulvérisation, en ce que la valeur mesurée de la temporisation est automatiquement comparée à une valeur normale mémorisée qui correspond aux informations de temps du programme, et en ce que dans le cas d'un écart inadmissible entre la temporisation mesurée et la valeur normale mémorisée, il est produit un signal d'alarme et/ou les temps commandés par le programme sont modifiés de manière à prendre en compte la valeur mesurée de la temporisation.
  2. Procédé selon la revendication 1, caractérisé en ce que l'instant (t₁) de production du signal de commutation (FN') est automatiquement avancé ou retardé, en continu ou progressivement, dans une mesure appropriée, par une unité de commande de temps, pour compenser les variations de la valeur de temporisation (T8) mesurée en permanence.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce qu'un signal d'alarme est produit lorsque l'écart dépasse une limite prédéterminée (fenêtre).
  4. Procédé selon l'une des revendications précédentes, caractérisé en ce que la durée de temporisation est mesurée entre le signal de commutation et un signal qui est produit lorsqu'un élément mobile du dispositif de pulvérisation atteint une position prédéterminée.
  5. Procédé selon la revendication 4, caractérisé en ce que la position prédéterminée est la position d'ouverture d'un clapet.
  6. Procédé selon l'une des revendications précédentes, caractérisé en ce que le matériau de revêtement est envoyé au dispositif de pulvérisation par une conduite, au moyen d'une pompe de circulation qui est pontée par un circuit de recyclage contenant un clapet d'étranglement, en ce que le clapet d'étranglement est actionné par des signaux (D1, D2) produits à des intervalles prédéterminés d'avance ou de temporisation respectivement avant ou après le signal de commutation (FN') du dispositif de pulvérisation, et en ce que ces intervalles sont modifiés en fonction des variations de la durée de temporisation du dispositif de pulvérisation.
  7. Procédé selon le préambule de la revendication 1, caractérisé en ce que lors du déroulement du programme il est produit au moins deux signaux de commande de transfert différents pour des paramètres de revêtement variant plus rapidement ou plus lentement et en ce que le système commandant le réglage des paramètres reçoit plutôt dans le temps des instructions lues dans le programme en vue du réglage des paramètres variant plus lentement et/ou les transmet plus rapidement à un organe de réglage correspondant que les autres instructions, ce qui fait que l'action des paramètres de revêtement différents coïncide dans le temps.
  8. Dispositif de pulvérisation pour la mise en oeuvre du procédé selon l'une des revendications 1 à 7, comportant un clapet qui contient un organe de clapet pouvant être déplacé par un dispositif de commande, en particulier pneumatique, entre deux positions de fin de course dans lesquelles le clapet est ouvert ou fermé, caractérisé en ce que le clapet contient un capteur (1) qui délivre un signal lorsque l'organe de clapet (2) atteint une position de fin de course.
  9. Dispositif de pulvérisation selon la revendication 8, caractérisé en ce que le capteur (1) est un interrupteur de proximité électrique dont l'extrémité est tournée vers une face frontale (10) à l'extrémité de l'organe de clapet (2).
  10. Dispositif de pulvérisation selon la revendication 9, caractérisé en ce que la surface de capteur (9) de l' interrupteur de proximité se situe au moins à peu près dans le plan d'une surface de butée pour l'extrémité arrière de l'organe de clapet (2).
  11. Dispositif de pulvérisation selon la revendication 9 ou 10, caractérisé en ce que le capteur (1) est ajustable axialement et est monté interchangeable dans le boîtier de clapet (3, 6).
EP88106216A 1987-04-27 1988-04-19 Procédé de revêtement automatique de pièces en série Expired - Lifetime EP0288878B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3713999 1987-04-27
DE19873713999 DE3713999A1 (de) 1987-04-27 1987-04-27 Verfahren zum selbsttaetigen serienweisen beschichten von werkstuecken

Publications (3)

Publication Number Publication Date
EP0288878A2 EP0288878A2 (fr) 1988-11-02
EP0288878A3 EP0288878A3 (en) 1989-10-18
EP0288878B1 true EP0288878B1 (fr) 1992-08-26

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EP88106216A Expired - Lifetime EP0288878B1 (fr) 1987-04-27 1988-04-19 Procédé de revêtement automatique de pièces en série

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US (2) US5152841A (fr)
EP (1) EP0288878B1 (fr)
DE (2) DE3713999A1 (fr)
ES (1) ES2035136T3 (fr)

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Also Published As

Publication number Publication date
DE3873966D1 (de) 1992-10-01
EP0288878A2 (fr) 1988-11-02
EP0288878A3 (en) 1989-10-18
ES2035136T3 (es) 1993-04-16
US4957782A (en) 1990-09-18
US5152841A (en) 1992-10-06
DE3713999A1 (de) 1988-11-10

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